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A Fast Line Finder for Vision-Guided Robot Navigation., , and . IEEE Trans. Pattern Anal. Mach. Intell., 12 (11): 1098-1102 (1990)Building Blocks for Computer Vision Systems.. IEEE Expert, 8 (6): 40-50 (1993)Local Determination of a Moving Contrast Edge.. IEEE Trans. Pattern Anal. Mach. Intell., 7 (4): 402-409 (1985)AAAI-90 Workshop on Qualitative Vision., , , and . AI Magazine, 12 (4): 25-27 (1991)